version: 66.06
glider: 523
mission: 4
dive: 748
start: 7 19 113 5 48 4
data:
$ID,523
$MISSION,4
$DIVE,748
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,157
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51859
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2118.95
$TGT_DEFAULT_LON,-15758
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-51149.43
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,70
$PITCH_MAX,3840
$C_PITCH,2642
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,217
$ROLL_MAX,3847
$ROLL_DEG,40
$C_ROLL_DIVE,1925
$C_ROLL_CLIMB,1996
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-44.423622
$PRESSURE_SLOPE,0.00011597706
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.30000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042940481
$SEABIRD_T_H,0.00062789384
$SEABIRD_T_I,2.2877364e-05
$SEABIRD_T_J,2.3382993e-06
$SEABIRD_C_G,-10.032345
$SEABIRD_C_H,1.1112347
$SEABIRD_C_I,0.0036120038
$SEABIRD_C_J,-0.00017978948
$GPS1,053958,2107.640,-15754.823,37,1.0,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-71.8
$GPS2,054711,2107.616,-15754.901,16,1.0,16,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.255,-0.024
$KALMAN_X,-32617.2,14.9,-353.5,30517.6,-774.0
$KALMAN_Y,4037.9,118.1,179.8,-6948.3,-37.3
$MHEAD_RNG_PITCHd_Wd,85.6,20973,-17.6,-9.554
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,106,0.00,0.00,-84.93,0.000,6,0.000,0.000,42,1897,3395,0,0,0,0,0,0
$GC,110,-0.76,-146.0,3.6,-4.7,14,125,9.68,2.20,0.00,0.000,4,0.222,0.057,2385,547,3396,0,0,0,0,0,0
$GC,153,-0.76,-146.0,14.9,-21.2,21,161,0.00,2.20,0.00,0.000,6,0.000,0.042,2377,1924,3397,0,0,0,0,0,0
$GC,320,-0.76,-146.0,34.9,-11.3,52,328,0.00,2.33,0.00,0.000,4,0.000,0.064,2367,3324,3398,0,0,0,0,0,0
$GC,363,-0.76,-146.0,40.2,-11.7,59,369,0.00,2.20,0.00,0.000,6,0.000,0.048,2367,1952,3398,0,0,0,0,0,0
$GC,696,-0.76,-146.0,76.5,-12.5,120,704,0.00,2.38,0.00,0.000,4,0.000,0.068,2367,518,3399,0,0,0,0,0,0
$GC,953,-0.76,-146.0,103.4,-9.0,146,957,0.15,2.17,0.00,0.000,6,0.156,0.040,2397,1926,3400,0,0,0,0,0,0
$GC,1280,-0.76,-146.0,125.7,-6.1,176,1284,0.00,2.30,0.00,0.000,4,0.000,0.065,2397,517,3400,0,0,0,0,0,0
$GC,1337,-0.76,-146.0,129.9,-7.2,181,1344,0.00,2.20,0.00,0.000,6,0.000,0.042,2390,1925,3400,0,0,0,0,0,0
$GC,1672,-0.76,-146.0,151.2,-7.2,212,1676,0.00,2.35,0.00,0.000,4,0.000,0.064,2390,512,3401,0,0,0,0,0,0
$GC,1835,-0.76,-146.0,164.9,-9.2,226,1839,0.00,2.20,0.00,0.000,6,0.000,0.042,2380,1930,3401,0,0,0,0,0,0
$GC,2168,-0.76,-146.0,190.2,-8.1,257,2172,0.00,2.35,0.00,0.000,4,0.000,0.064,2380,508,3401,0,0,0,0,0,0
$GC,2232,-0.76,-146.0,196.6,-9.6,262,2240,0.00,2.25,0.00,0.000,6,0.000,0.041,2371,1928,3402,0,0,0,0,0,0
$GC,2552,-0.76,-146.0,222.0,-9.2,280,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1928,3402,0,0,0,0,0,0
$GC,2859,-0.76,-146.0,249.5,-8.1,295,2864,0.00,2.30,0.00,0.000,4,0.000,0.062,2371,512,3401,0,0,0,0,0,0
$GC,3116,-0.76,-146.0,266.8,-5.6,306,3121,0.12,2.22,0.00,0.000,6,0.153,0.041,2394,1934,3401,0,0,0,0,0,0
$GC,3436,-0.76,-146.0,284.5,-5.3,321,3440,0.00,2.25,0.00,0.000,4,0.000,0.061,2386,3333,3401,0,0,0,0,0,0
$GC,3477,-0.76,-146.0,287.0,-5.9,323,3481,0.00,2.28,0.00,0.000,6,0.000,0.048,2386,1917,3401,0,0,0,0,0,0
$GC,3825,-0.76,-146.0,309.9,-7.4,337,3832,0.00,2.30,0.00,0.000,4,0.000,0.066,2386,508,3401,0,0,0,0,0,0
$GC,3984,-0.76,-146.0,322.4,-7.2,340,3989,0.00,2.22,0.00,0.000,6,0.000,0.040,2376,1936,3400,0,0,0,0,0,0
$GC,4329,-0.76,-146.0,341.2,-5.0,349,4333,0.00,2.30,0.00,0.000,4,0.000,0.061,2376,515,3399,0,0,0,0,0,0
$GC,4402,-0.76,-146.0,344.9,-5.2,350,4406,0.00,2.20,0.00,0.000,6,0.000,0.041,2367,1934,3399,0,0,0,0,0,0
$GC,4746,-0.76,-146.0,360.2,-4.8,359,4750,0.00,2.33,0.00,0.000,4,0.000,0.061,2367,512,3397,0,0,0,0,0,0
$GC,4842,-0.76,-146.0,365.7,-5.9,361,4847,0.12,2.20,0.00,0.000,6,0.156,0.042,2390,1928,3397,0,0,0,0,0,0
$GC,5156,-0.76,-146.0,381.2,-5.2,369,5157,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1928,3395,0,0,0,0,0,0
$GC,5480,-0.76,-146.0,397.9,-5.3,377,5484,0.00,2.35,0.00,0.000,4,0.000,0.062,2390,507,3394,0,0,0,0,0,0
$GC,5611,-0.76,-146.0,405.6,-5.7,379,5617,0.00,2.22,0.00,0.000,6,0.000,0.043,2382,1924,3393,0,0,0,0,0,0
$GC,5946,-0.76,-146.0,426.0,-6.3,388,5950,0.00,2.33,0.00,0.000,4,0.000,0.063,2372,3339,3391,0,0,0,0,0,0
$GC,5979,-0.76,-146.0,428.5,-6.8,388,5984,0.00,2.30,0.00,0.000,6,0.000,0.051,2372,1922,3391,0,0,0,0,0,0
$GC,6310,-0.76,-146.0,447.9,-5.4,397,6315,0.00,2.33,0.00,0.000,4,0.000,0.068,2372,508,3389,0,0,0,0,0,0
$STATE,6342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6342,begin apogee
$GC,6352,-0.17,0.0,450.0,6.4,397,6479,0.68,0.00,123.85,0.753,6,0.119,0.000,2578,1997,2800,0,0,0,0,0,0
$STATE,6480,end apogee,CONTROL_FINISHED_OK
$STATE,6480,begin climb
$GC,6483,0.76,146.0,451.1,0.0,401,6621,0.88,2.33,128.77,0.730,4,0.071,0.058,2887,3402,2201,0,0,0,0,0,0
$GC,6795,0.76,146.0,421.5,9.6,408,6799,0.00,2.28,0.00,0.000,6,0.000,0.050,2896,1996,2196,0,0,0,0,0,0
$GC,7109,0.76,146.0,388.6,11.3,416,7113,0.00,2.30,0.00,0.000,4,0.000,0.062,2896,3408,2194,0,0,0,0,0,0
$GC,7203,0.76,146.0,376.5,12.6,418,7207,0.00,2.28,0.00,0.000,6,0.000,0.050,2906,1996,2194,0,0,0,0,0,0
$GC,7517,0.76,146.0,340.6,11.6,426,7521,0.00,2.30,0.00,0.000,4,0.000,0.062,2906,3412,2191,0,0,0,0,0,0
$GC,7623,0.76,146.0,326.8,12.8,428,7627,0.00,2.30,0.00,0.000,6,0.000,0.051,2916,1989,2191,0,0,0,0,0,0
$GC,7947,0.76,146.0,288.4,10.3,439,7951,0.00,2.33,0.00,0.000,4,0.000,0.064,2916,3404,2190,0,0,0,0,0,0
$GC,8114,0.76,146.0,271.3,10.9,446,8121,0.12,2.25,0.00,0.000,6,0.146,0.052,2887,1998,2189,0,0,0,0,0,0
$GC,8430,0.76,146.0,240.8,10.0,462,8434,0.00,2.33,0.00,0.000,4,0.000,0.064,2887,3414,2188,0,0,0,0,0,0
$GC,8475,0.76,146.0,236.1,10.6,464,8479,0.00,2.22,0.00,0.000,6,0.000,0.042,2895,1977,2188,0,0,0,0,0,0
$GC,8796,0.83,202.9,209.8,7.1,480,8850,0.00,2.35,48.25,0.616,4,0.000,0.052,2895,3402,1971,0,0,0,0,0,0
$GC,8868,0.89,246.3,204.4,7.6,483,8912,0.00,2.22,39.20,0.595,6,0.000,0.044,2904,1995,1795,0,0,0,0,0,0
$GC,9241,0.89,246.3,170.3,10.3,516,9245,0.00,2.28,0.00,0.000,4,0.000,0.053,2904,3408,1792,0,0,0,0,0,0
$GC,9271,0.89,246.3,167.2,10.7,518,9275,0.00,2.22,0.00,0.000,6,0.000,0.041,2912,1986,1791,0,0,0,0,0,0
$GC,9598,0.95,296.6,138.2,7.3,548,9649,0.10,2.30,44.38,0.548,4,0.087,0.053,2986,3412,1589,0,0,0,0,0,0
$GC,9831,0.95,296.6,110.4,13.3,569,9839,0.15,2.28,0.00,0.000,6,0.112,0.043,2945,1992,1587,0,0,0,0,0,0
$GC,10158,0.95,296.6,78.2,10.7,601,10164,0.00,2.25,0.00,0.000,4,0.000,0.052,2945,3412,1588,0,0,0,0,0,0
$GC,10208,0.95,296.6,72.0,12.6,610,10216,0.00,2.28,0.00,0.000,6,0.000,0.048,2951,1995,1587,0,0,0,0,0,0
$GC,10546,0.98,318.3,41.6,8.6,671,10571,0.00,2.35,19.73,0.456,4,0.000,0.054,2952,3418,1500,0,0,0,0,0,0
$GC,10628,0.98,319.2,34.4,9.5,685,10634,0.00,2.28,0.00,0.000,6,0.000,0.046,2960,1990,1499,0,0,0,0,0,0
$GC,10951,0.98,319.2,4.6,9.7,746,10959,0.00,2.30,0.00,0.000,4,0.000,0.055,2960,3405,1499,0,0,0,0,0,0
$STATE,10970,end climb,SURFACE_DEPTH_REACHED
$STATE,10970,begin surface coast
$FINISH,1.0,1.023388
$STATE,11003,end surface coast,CONTROL_FINISHED_OK
$STATE,11003,begin surface
$SM_CCo,11085,0.00,0.000,0,0,1497,319.62
$SM_GC,1.56,7.40,0.00,0.00,0.020,0.000,0.000,42,1927,1497,-8.01,0.08,319.62
$IRIDIUM_FIX,2104.07,-15758.18,131002,020222
$TT8_MAMPS,0.028379
$HUMID,70.90
$INTERNAL_PRESSURE,9.33355
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,24.2,65.194
$10V_AH,9.9,72.294
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.400,114.025,404.175,0.000,0.000,32.742,35.702,212.182,19.000,0.000,17.254,1385.329,6490.148,446.087,2593.055,595.825,33.351,1384.189,0.000,2543.870,0.000,117.282,0.000
$DEVICE_MAMPS,222.430,68.263,753.194,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,513.907,427.885,1479.853,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,41326,755
$CAP_FILE_SIZE,121278,0
$CFSIZE,260165632,217296896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190713,085404,2107.549,-15755.024,39,0.8,39,9.8